Method for positioning and locking a rotatable vessel

ABSTRACT

A system for positioning a rotatable vessel includes a rotatable vessel having a target block fixed thereto. A protrusion that is configured to mate with the target block is coupled to a slide plate and moveable relative to the slide plate toward the target block. The slide plate is slidably adjustable relative to a fixed base plate. The precise rotational position of the vessel can be controlled by fixing the slide plate relative to the base plate, such that when the slide plate is locked to the base plate, extension of the protrusion into engagement with the target block will rotationally position the vessel. When the protrusion and the target block are engaged, the vessel and the slide plate are linked, and the position of the slide plate may be adjusted relative to the base plate to set an adjusted desired position of the vessel.

This application is a divisional of and claims priority to U.S. patentapplication Ser. No. 15/729,136 filed Oct. 10, 2017; the entire contentsof which are incorporated herein by reference.

The present disclosure relates to positioning systems for rotatablevessels. More particularly, the disclosure relates to a positioning andlocking mechanism for rotary vessels.

BACKGROUND

Rotatable vessels are used in a variety of systems. Rotating vessels maybe used in the chemical process industries and can include a rotatablecylinder or other shaped vessel that is supported on a rotatable shaft.These types of systems can include ball mills, blenders, dryers,filters, and reactors.

Some common shapes used for the rotatable vessel include a double coneshape, an offset cone shape, a V-shaped vessel, a vertical cylinder, anda horizontal cylinder. For each of these shapes, the vessel may bemounted on a shaft that defines the axis of rotation. The shaft isrotated by a drive mechanism, and rotation of the shaft will cause thevessel to rotate to perform the intended operation.

These vessels may be loaded and discharged with solids, liquids, or acombination of a solid or liquid. Loading and discharge may occurthrough various ports, hatches, valves, or other opening located on theperiphery of the vessel. In addition to loading and discharging,additional operations may be performed via these openings, such asproduct sampling, inspection, and cleaning.

To perform these operations, the vessel may be positioned at apredetermined location that corresponds to the desired operation. Forexample, for loading the opening may be positioned to be at the top ofthe vessel. The positioning occurs via rotation of the vessel to thedesired rotational position. For discharge, the opening may bepositioned at the bottom of the vessel.

To perform these operations, such as loading, discharging, or the like,an auxiliary flange may be connected to the opening. The flange may bestationary or retractable, and can make the connection from above orbelow, depending on the operation. Thus, the opening may dock with theflange to perform the desired operation. For example, the opening maydock with the flange of a supply of product that is to be loaded intothe vessel, or the opening may dock with the flange of a dischargehopper or conduit for receiving product out of the vessel.

Positioning of the vessel can be automated through the use of a variablefrequency drive, which can slow the vessel down, and through the use ofa brake, which can stop and hold the vessel in the desired position.However, when loaded with product, the vessels may have considerableweight, in some cases exceeding 50,000 pounds. When loaded with product,the process of slowing, positioning, and stopping the vessel can bedifficult to automate to a desired position with precision.

To determine the position of the vessel, a positioning disc withmagnetic properties or other sensors may be used. Alternatively, anencoder or counter may be mounted on the motor. A programmable logiccontroller or other electronic or pneumatic logic can be used to sensethe position of the vessel, slow the speed of the vessel, and lock thevessel in position with the brake. With this type of control, it ispossible to position the vessel within a few degrees of a desiredlocation.

However, even when the brake is in a locked position and holding therotor of the drive motor in place, there can be backlash or play in thegearing. The type of gear reduction, the size of the vessel, and therotational speed can affect the amount of backlash and play. Rotating avessel at a slower speed can require more reduction and therefore moregears, and an increase in gears can increase the amount of backlash andplay.

Thus, while the positioning system can be somewhat accurate in stoppingthe vessel near the desired and correct positon, the backlash allows thevessel to move relative to the desired position, and the final positionof the vessel and accuracy of the final position can be difficult toachieve.

In some cases, a generally correct positioning within a few degrees maybe adequate. However, many rotatable vessel processes require inertatmospheres, or may involve highly toxic or biologically activechemicals. In such instances, a tight and reliable seal with the dockingflange may be required. In the case of toxic and biologically activechemicals, the need for a human operator to make or break the connectionbetween the vessel and the docking flange could be too hazardous. In thecase of automated docking via a robotic arm, automated extensionflanges, or other mechanisms, the final position of the vessel may needto be more accurate.

Accordingly, improvements can be made in the positioning of rotatablevessels.

SUMMARY

A system for positioning a rotatable vessel includes a rotatable vesselhaving a first end wall and a second end wall, and an axis of rotationextending through the end walls. A target block is fixed to the vesselat a location radially outward from the axis of the rotation, whereinthe target block defines a female recess extending radially inward froma radially outer edge of the target block to define a target shape.

The system further includes a base plate having a radiused uppersurface, where the radiused upper surface defines a radius having acenter corresponding to the axis of rotation of the vessel. A slideplate has a radiused lower surface contacting the radiused uppersurface, where the radiused lower surface defines a radius having acenter corresponding to the axis of rotation of the vessel.

A protrusion is attached to the slide plate, where the protrusion isreciprocally moveable in a linear direction away from the slide plate.The slide plate has a locked configuration relative to the base plateand a moveable configuration relative to the base plate. The slide plateis selectively lockable to the base plate and moveable relative to thebase plate in a rotational direction around the axis of rotation.

The protrusion has a protrusion shape that corresponds to the recessshape, and the protrusion is moveable away from the slide plate towardthe target block and into engagement with the female recess. Theprotrusion has a retracted position and an extended position, where theprotrusion engages the target block in the extended position. In theextended position of the protrusion, the vessel is locked in placerotationally relative to the slide plate.

In one example, the protrusion may be moveable in a linear directionalong a path that intersects the axis of rotation of the vessel. In theextended position of the protrusion, rotational movement of the vesselmay correspond to rotational movement of the slide plate. When the slideplate is in a locked configuration relative to the base plate and theprotrusion is in an extended position, the vessel may be locked againstrotation.

In one example, the target block may be located at the periphery of thefirst end wall.

In one form, the slide plate has a first locked position relative to thebase plate, and when the protrusion is in the extended position thevessel has a first locked position relative to the slide plate, and thevessel is rotatable away from the first locked position when theprotrusion is in the retracted position. The vessel may be rotatablerelative to the slide plate when the protrusion is retracted, and thevessel may have a first free position when the protrusion is retracted.In one approach, in the first free position, a radially outer opening ofthe female recess intersects a travel path of the protrusion such thatthe protrusion will be received within the radially outer opening whenextended. The first free position may be rotationally different than thefirst fixed position.

In one approach, linear movement of the protrusion along the travel pathand into engagement with the target block rotates the vessel to thefirst fixed position. The slide plate may have a second locked positionthat is rotationally different than the first locked position and thevessel has a corresponding second locked position when the protrusion isin the extended position, and the vessel is rotationally moveable whenthe protrusion is in the retracted position, where extension of theprotrusion into the target block will rotate the vessel to the secondlocked position of the vessel from the first free position when theslide plate is in the second locked position.

In one example, a positioning disc is attached to the first end wall orthe second end wall of the vessel and at least one sensor is configuredto detect a rotational position of the positioning disc.

In another example, a system for positioning a rotatable vessel includesa rotatable vessel having an axis of rotation and a target block fixedto the vessel, where the target block defines a target shape. A baseplate has a fixed position relative to the vessel and has a radiusedupper surface. A slide plate has a radiused lower surface correspondingto and contacting the radiused upper surface, where the slide plate iscontinuously rotationally adjustable relative to the base plate andlockable relative to the base plate at a plurality of rotationalpositions that are not predefined.

A protrusion is attached to the slide plate, where the protrusion isreciprocally moveable in a linear direction away from the slide plateand toward the axis of rotation of the vessel. The protrusion has ashape that corresponds to the target shape such that the target blockand the protrusion fit together in a locked state, and the protrusion ismoveable into and out of engagement with the target block.

When the slide plate is in a locked position relative to the base plate,and the protrusion is extended into engagement with the target block andin the locked state with the target block, the vessel is in a firstlocked position. When the protrusion is retracted out of engagement withthe target block, the vessel is free to rotate relative to the slideplate. Movement of the protrusion into engagement with the target blockwhen the slide plate is in the locked position will rotate the vessel tothe first locked position from a different rotational position.

In one form, when the protrusion is in the locked state with the targetblock and the slide plate is moveable relative to the base plate, thevessel and slide plate rotate together. In another form, movement of theslide plate from the locked position to a different rotational positionwill rotate the vessel away from the first locked position to adifferent locked position.

In another embodiment, a method for positioning a rotatable vesselincludes the step of rotating a vessel around an axis of rotation, wherethe vessel includes a target block fixedly attached thereto. The methodfurther includes rotating the vessel to a first position, where thevessel is free to rotate away from the first position. The method alsoincludes, in response to rotating the vessel to the first position,extending a protrusion into a mating engagement with the target blockand locking the protrusion and target block together, where theprotrusion is rotationally fixed to a slide plate and moveable linearlyaway from the slide plate, where the slide plate is rotationallyadjustable and lockable between non-predefined rotational positionsrelative to a fixed base plate.

The method also includes, in response to extending the protrusion intothe mating engagement with the target block, rotating the vessel fromthe first position to a second position. The vessel is locked in thesecond position when the protrusion and the target block are lockedtogether and the slide plate is locked to the base plate.

In one form, the method further includes, prior to rotating the vesselto the first position, unlocking the slide plate from the base plate androtating the vessel to a preliminary position, and extending theprotrusion into engagement with the target block, wherein the slideplate and vessel and free to rotate relative to the base plate. Inanother form, the method further includes, prior to rotating the vesselto the first position, rotating the slide plate and vessel together whenthe protrusion and target block are locked, wherein the vessel isrotated to the second position.

In another form, the method may include, prior to rotating the vessel tothe first position and after rotating the slide plate and vesseltogether to the second position, locking the slide plate to the baseplate when the vessel is in the second position.

In one approach, the step of rotating the vessel to the first positionincludes rotating the vessel at a first speed, decreasing the rotationalspeed to a second speed, detecting a rotational position of the vesselusing sensors and in response thereto further decreasing the rotationalspeed to a third speed and applying a brake to the vessel when itreaches the first position, and releasing the brake prior to extendingthe protrusion.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a front view of rotatable vessel and a positioning system;

FIG. 2 is a side view of the system, illustrating a target block fixedto the vessel, a moveable protrusion coupled to a slide plate, and abase plate coupled to the slide plate, showing the protrusion in aretracted position;

FIG. 2A is a cross-sectional top view illustrating the protrusionslidably coupled to a rail that is attached to the slide plate;

FIG. 3 is a side view, showing the protrusion in an extended positionand engaged with the target block;

FIG. 4 is a side view that illustrates the slide plate and the baseplate, each having corresponding radiused surfaces;

FIG. 5 is a cross-sectional front view of the slide plate and the baseplate;

FIG. 6 is a top view of the base plate and the slide illustrating slotsin the base plate and holes in the side plate; and

FIG. 7 is a top view of the base plate and the slide plate illustratingslots in the side plate and holes in the base plate.

DESCRIPTION

With reference to the figures, and as shown in FIG. 1, a rotating vesselsystem 10 includes a rotatable vessel 12, a shaft 14 attached to thevessel 12, and a drive system 15. The system 10 further includes apositioning system 16 for accurately positioning the vessel in a desiredlocation.

The vessel 12 is shown in the figures as being in the form of ahorizontal cylinder. It will be appreciated that the vessel 12 may haveother shapes. For example, the vessel 12 may be in the form of a doublecone, offset cone, V-shape, or vertical cylinder as well. For thepurposes of discussion, the vessel 12 will be described as a cylinder,and may be referred to as the cylinder 12 or vessel 12.

The vessel 12 may include an access port 18. The access port 18 may belocated on the sidewall of the vessel 12. As shown in FIG. 1, the accessport 18 is positioned at the top of the vessel 12 and extending radiallyoutward from the sidewall of the vessel 12. The access port 18 willprovide access into the interior of the vessel 12, to allow for loadingor discharge of the product that is processed within the vessel 12.

The access port 18 is shown as having a tubular shape, however, the port18 could also be in the form of a box, a grate, a hole, or other shapeallowing for access into and out of the interior of the vessel 12. Theaccess port 18 may be in the form of a valve, or other selectively openand closed opening. It will be appreciated that the size and shape ofthe port 18 can be other known sizes and shapes.

As the vessel 12 is rotated via the drive system 15, the position of theaccess port 18 will change. The position of the access port 18 on theperiphery of the vessel 12 means that a small degree of angular rotationcan lead to a large linear translation. The greater the diameter of thevessel 12, the greater the translation of the port 18 will change with agiven angular movement.

The shaft 14 is coupled to the drive system 15 and is rotated inresponse to actuation of the drive system 15. The rotation of the shaft14 rotates the vessel 12. The shaft 14 may be supported by a pair oftrunnions 20 at each end of the shaft 14. The trunnions 20 provide abearing surface for the shaft 14, as known in the art. The trunnions 20provide a fixed base for the system 10, and additional structure may beattached to the trunnions 20 for support. The trunnions 20 may be fixedto the floor of a workspace.

The drive system 15 is used to rotate the shaft 14 and the vessel 12 toperform the desired rotational process. As the drive system 15 may beused to rotate the vessel 12, the drive system 15 may also act as amechanism for positioning the vessel 12 in a desired location.Positioning the vessel 12 via the drive system 15 typically occurs atthe conclusion of a rotating process, where the rotational speed of thevessel 12 may be slowed and made to come to a stop at a desiredposition.

The drive system 15 includes a motor 22 having a rotor (not shown). Themotor 22 is coupled to a gear reducer 24, which may be coupled to a ringand pinion gear 26, which may be coupled to the shaft 14. Actuation ofthe motor 22 will ultimately cause the ring and pinion gear 26 to rotatethe shaft 14 in a manner known in the art. The gear reducer 24 may beused to perform the primary reduction, and the ring and pinion gear 26may be used to perform secondary reduction.

The drive system 15 may further include a brake 28, which may be coupledto the rotor of the motor 22. The brake 28 may be used to lock the motor22, thereby fixing the drive system 15 in its position at the time ofbraking, subject to movement that may occur due to backlash or play inthe gears of the drive system 15.

The drive system described above may be positioned to one longitudinalside of the vessel 12 and mounted to the trunnion 20 at that side.

The system 10 may further include a positioning disc 30 includingmagnets mounted thereto. The system 10 may further include one or moresensors 32 mounted adjacent to the positioning disc 30. The positioningdisc 30 may be mounted to the shaft 14, such that it rotates along withthe shaft 14 and the vessel 12. The sensors 32 may be mounted at a fixedlocation to one of the trunnions 20. As the disc 30 rotates, the sensor32 will track the rotation and corresponding position.

As shown in FIG. 1, the sensors 32 and positioning disc 30 are locatedon the side of the vessel 12 that is opposite the side where the drivesystem 15 is located. In another approach, the sensors 32 andpositioning disc 30 may be located on the same side of the vessel 12 asthe drive system 15. The combination of the sensors 32 and thepositioning disc 30 may also be referred to as a position monitor orposition tracker.

As described above, the system 10 further includes the positioningsystems 16. As shown in FIG. 1, the system 10 includes two positioningsystems 16, but the system 10 could include only one, or could includemore than two. The positioning system 16 may include multiple componentsthat act together to position the vessel 12 in the desired location, asfurther described below.

With reference to FIG. 2, the positioning system 16 preferably includesa target block 50 mounted to an end surface 12 a of the vessel 12. Thetarget block 50 may have a variety of different outer profiles dependingon the type of vessel 12 that is used. As shown in FIG. 2, the targetblock 50 has a generally rectangular outer profile. The target block 50is preferably made of a hard and rigid and substantially inflexiblematerial.

In one approach, the target block 50 is positioned at the periphery ofthe end surface 12 a. Locating the target block 50 near the peripheryincreases the accuracy of the position of the periphery of the vessel12. As described above, the port 18 is located on the periphery of thevessel 12, so increasing the positioning accuracy at this distance fromthe center of the vessel 12 is desirable.

While the target block 50 is located at the periphery of the end surface12 a, it extends radially toward the center of the vessel 12 along theend surface 12 a. In one form, the target block 50 does not extendradially beyond the outer radial edge of the vessel 12. However, inanother approach, the target block 50 may extend beyond the outer radialedge of the vessel 12.

The target block 50 is rigidly and fixedly attached to the vessel 12.Thus, positioning the target block 50 in a desired location or positionwill fix the vessel 12 in the desired location or position. By fixingthe position of the target block 50 relative to the vessel 12, the drivesystem 15 does not have to be used to position and hold the vessel 12 inplace if the target block 50 is held in place.

The target block 50 is configured to receive corresponding structurethat will hold the target block 50 in place, thereby holding the vessel12 in place in accordance with the fixed relationship between the vessel12 and the target block 50. The target block 50 therefore includes afemale recess 51 that is sized and configured to receive a correspondingstructure for locking the target block 50 in place. The recess 51 may bein the form of a tapered recess or a V-shape or U-shape. In anotherapproach, the recess may have a square or rectangular shape. The recess51 includes a base opening 51 a through which corresponding structurecan be inserted. The recess 51 may be enclosed on all sides, such thatthe opening 51 a is the only opening into the recess 51, or the recess51 may be open on its side in the direction away from the end of thevessel 12.

The recess 51 may be in the form of a slot, such that the opening 51 iswider in the direction extending along the end of the vessel 12 that itis in the direction corresponding to the longitudinal axis of the vessel12, such that the opening is in the shape of a rectangle. In anotherapproach, the recess 51 may be as wide as it is long, such that theopening 51 a is in the shape of a square. The recess 51 may also have anopening in the shape of an oval or a circle.

The recess 51 preferably tapers down from its opening 51 in a directiontoward the axis of the rotation of the vessel 12, such that the recess51 will approach an apex 51 b opposite the opening 51 a. Thus, therecess 51 may have a wedge-shape. In another approach, the recess 51 mayhave a pyramid shape, or a conical shape. It will be appreciated thatother shapes of the recess 51 may also be used.

The positioning system 16 further includes a base portion 52. The baseportion 52 is mounted to one of the trunnions 20. The base portion 52thereby remains in a fixed position when the vessel 12 rotates, with thetarget block 50 rotating along with the vessel 12. The base portion 52is used to fix the position of the target block 50, and thereby fix theposition of the vessel 12.

The base portion 52 includes a moveable male protrusion 54 that is sizedand configured to extend into and mate with the recess 51. Theprotrusion 54 is moveable in a direction toward the axis of rotation ofthe vessel 12, and is generally restricted from movement in any lateralor longitudinal direction relative to the base 52 and the vessel 12,whether in the extended or retracted position. Thus, when the recess 51has received the protrusion 54 after the protrusion has been extendedand inserted into the recess, the target block 50 will be restrictedfrom rotational movement relative to the position of the protrusion 54.

The base 52 further includes a pair of guide rails 56 that are coupledto and support that the protrusion 54, allowing the protrusion 54 toextend and retract in the direction toward and away from the axis ofrotation of the vessel 12. The guide rails 56 may include bearings orthe like that guide the protrusion 54 in the desired direction. In oneform, as shown in FIG. 2A, the guide rail 56 includes an inner bearing56 a that receives the protrusion 54 and allows the protrusion to slidealong the surfaces of the bearing 56 a. In another approach, the guiderail 54 may act as the bearing surface. The bearing 56 a may be made ofRulon or UHMW.

The protrusion 54 may include an upper point 54 a and a lower bodyportion 54 b. The body portion 54 b is preferably held by the guiderails 56, with the point 54 a extending upward from the body portion 54b. Thus, the point 54 a protrudes from the body portion 54 b, and is theportion that is received in the recess 51.

The body portion may include a pair of legs 54 c on opposite sides ofthe body portion 54 b, where the legs 54 c are guided within the guiderails 56 along with the rest of the body portion 54 b. The body portion54 b may also define an opening 54 d defined between the legs 54 c andthe upper portion of the body portion 54 d.

The protrusion 54 may be coupled to an actuator 58, such as a pneumaticor hydraulic actuator, or a magnetic actuator, or other types of drivingmembers configured to actuate the protrusion 54 upward and intoengagement with the target block 50 and downward and out of engagementwith the target block 50.

The actuator 56 is preferably in the form of a linear actuator, althoughother actuators could also be used, such as rotary actuators,rotation-translation conversion actuators, or the like.

The protrusion 54 being actuated and extended into engagement with thetarget block 50 is shown in FIG. 3.

As shown in FIGS. 2-4, the base 52 further includes a moveable slideplate 60 and a fixed base plate 62. The fixed base plate 62 ispreferably fixedly mounted to the trunnion 20 (as shown in FIG. 1). Theslide plate 60 is moveable relative to the base plate 62, and can beselectively fixed at different positions relative to the base plate 62.

The slide plate 60 has a curved shape, with the center of curvaturebeing the same as the axis of the rotation of the vessel 12.

The rails 56 and the actuator 58 are each attached to the slide plate60, which is mounted to the base plate 62. The protrusion 54 is attachedto the base plate via its attachment to the rails 56 and actuator 58.Thus, as the slide plate 60 moves relative to the base plate 62, theprotrusion 54, the rails 56, and the actuator 58 move along with theslide plate 60.

While the slide plate 60 is moveable relative to the base plate 62, theslide plate 60 is also fixable to the base plate 62, such that the slideplate 60 can be fixedly positioned in a number of different positonsafter being adjusted relative to the base plate 62. The number ofpositions of the slide plate 60 relative to the base plate 62 iseffectively unlimited, as the slide plate 60 is slidable relative to thebase plate 62 in a continuous manner.

As described above, the slide plate 60 has a curved shape having aradius that is centered on the axis of rotation of the vessel 12.Similarly, the base plate 62 has upward facing surface having a radiusthat is also centered on the axis of rotation of the vessel 12. Theradius of the upper surface of the base plate 62 is essentially the sameas the radius of a bottom surface of the slide plate 60, such that theslide plate 60 can smoothly slide along the surface of the base plate62.

The slide plate 60 is configured to be adjustable along an arcuate pathcorresponding to the curvature of the slide plate 60 and the base plate62. The arcuate path allows for adjustment in two opposing angulardirections, but is preferably restricted from lateral movement in adirection along the longitudinal axis of the vessel 12. Put another way,the slide plate 60 is preferably adjustable in a direction that isperpendicular to the longitudinal axis of the vessel 12 or in acircumferential direction about the axis of rotation of the vessel 12.

As shown in FIG. 5, to maintain the slide plate 60 in a fixedlongitudinal position, the base plate 62 may include side rails 62 a onopposing sides of the slide plate 60. Additionally, or alternatively,the base plate 62 and/or slide plate 60 may include pegs or otherprotrusions extending from the surface and into a corresponding slot inthe other of the base plate 62 or slide plate 60.

The slide plate 60 is fixable to the base plate 62 via additionalmechanical mounting structure. In one approach, the slide plate 60 maybe fixed to the base plate 62 via bolts 63, as shown in FIGS. 2 and 3.In another approach, the slide plate 60 may be fixable to the base platevia clamps. Other approaches to mechanically fixing the slide plate 60relative to the base plate 62 known in the art could also be used.

As shown in Figure n the case of bolts 63, the slide plate 60 mayinclude a plurality of holes 60 a extending through the slide plate 60,through which the bolts 63 can pass and engage with the base plate 62.In this approach, the base plate 62 may include a slot 62 a having awidth comparable to the size of the bolts. The slot 62 a in the baseplate 62 extends in a direction corresponding to the direction ofadjustment, such that the holes 60 a in the slide plate 60 that carrythe bolts 63 will translate along the slot in the base plate 62. Thus,the slide plate 60 may be adjusted to the desirable angular position andbolted in place relative to the base plate 62 at any desired angularposition.

In another approach, as shown in FIG. 7, the base plate 62 may includethrough holes 62 b through which bolts may extend. In this approach, theslide plate 60 includes a slot or slots 60 b, and the slots 60 b willtranslate along with the slide plate 60 relative to the base plate 62having the holes 62 b and bolts 63. Similar to the above, the slideplate 60 may be fixed once it is in the desired position by securing thebolts 63.

In another approach, both the slide plate 60 and the base plate 62 mayinclude slots 60 b and 62 a, respectively, such that the slots 60 b inthe slide plate 60 will move relative to the slots 62 a in the baseplate 62. Once in a desired position, bolts 63 may be secured throughthe slots in both the slide plate 60 and the base plate 62 to fix theslide plate 60 and base plate 62 together.

Regardless of which component includes the slots and/or holes, theslots/holes in the slide plate 60 and base plate 62 that are used forsecuring the slide plate 60 to the base plate 62 will overlie each otherwhen viewed from above, such that translation of the slide plate 60relative to the base plate 62 will result in an opening through whichthe bolts 63 can pass to secure the slide plate 60 to the base plate 62.

In another approach, clamps may be used that clamp the slide plate 60 tothe base plate 62. In this approach, the slide plate 60 and the baseplate 62 may be free from corresponding slots or holes. The clamps maybe fixed to either the slide plate 60 or the base plate 62. When theclamp is fixed to the slide plate 60, the clamp will move along with theslide plate 60. When the clamp is fixed to the base plate 62, the slideplate 60 will move relative to the clamp. The slide plate 60 and thebase plate 62 may each include a fixed clamp, such that the slide plate60 will move relative to the clamp fixed to the base plate, and theclamp fixed to the slide plate 60 will move relative to the base plate62.

Movement of the slide plate 60 can be accomplished manually or throughelectromechanical assistance.

In one approach, an elongate adjustment screw 66 may be used to adjustthe positon of the slide plate 60 relative to the base. The screw 66 mayhave a handle 66 a at an outer end and may be coupled to the rotationalbearing 67 at an inner end. The bearing 67 may be fixed to the slideplate 60. The base plate 62 may include a corresponding threaded nutmember 68 through which the screw 66 can be adjusted.

The screw 66 may be rotated relative to the nut 68, thereby causing thescrew 66 to move relative to the base plate 62. Movement of the screw 66will cause a corresponding pushing or pulling movement on the slideplate 60, thereby adjusting the position of the slide plate 60.

In another approach, the slide plate 60 (or other structure fixed to theslide plate 60, such as the rails) may include a handle or othergraspable structure that can aid in moving the slide plate 60 relativeto the base plate 62.

Thus, as described above, the slide plate 60 may be adjusted and fixedrelative to the base plate 62 to allow for precise angular adjustment ofthe slide plate 60.

The protrusion 54 coupled to the slide plate 60 via the rails 56 cantherefore likewise be adjusted to different and precise angularpositions relative to the base plate 62. The base plate 62 may be fixedto the trunnions 20 or other “ground” type structure. The trunnions 20,which support the vessel 12, are also in a fixed or “ground” position.Accordingly, the precision afforded by the adjustment of the slide plate60 relative to the base plate 62 and “ground” allows for preciselypositioning the protrusion 54 relative to the vessel 12. By engaging theprotrusion 54 with the vessel 12, the vessel 12 can thereby be preciselypositioned due to the positioning of the protrusion 54.

As described above, the protrusion 54 is adjustable in a direction bothtoward and away from the axis of rotation of the vessel 12. Theprotrusion 54 will travel along a path in which the center of theprotrusion 54 remains directed to the center of the axis of rotation ofthe vessel 12. This path of travel for the protrusion 54 remainsdirected at the axis of the rotation of the vessel 12 regardless of theposition of the slide plate 60 relative to the base plate 62. This isdue to the slide plate having a radius that is centered on the axis ofthe rotation of the vessel 12. Thus, when the slide plate 60 is movedrelative to the base plate 62, the protrusion 54 and is path of travelremains directed to the axis of rotation of the vessel 12.

The protrusion 54 is moveable along its path of travel between aretracted position (FIG. 2) and an extended position (FIG. 3). In theretracted position, the protrusion 54 is retracted relative to thevessel 12 and is positioned toward the bottom of the slide plate 60 andthe base plate 62. In the extended position, the protrusion 54 isextended away from the slide plate 60 and the base plate 62 and towardthe center of the vessel 12.

When the target block 50, which is positioned at the outer radial edgeof the vessel 12, is rotationally aligned and positioned within the pathof the protrusion 54, the protrusion 54 will engage with the targetblock 50. If the center of the target block 50 is precisely aligned onthe center of the protrusion 54 along the path of travel of theprotrusion 54, the extension of the protrusion 54 will cause theprotrusion 54 to mate with the target block 50 without resulting in anymovement of the target block 50.

However, the target block 50 being perfectly aligned and centered on thepath of travel of the protrusion 54 is typically unlikely to occur, dueto the inability to precisely control the stopping point of therotatable vessel 12 via its normal rotation and positioning mechanism.Thus, in use, the target block 50 will not be perfectly aligned with thecenterline of the path of travel of the protrusion 54.

When the target block 50 is off center from the center of the protrusion54 along its path of travel, extension of the protrusion 54 will resultin the terminal end or point of the protrusion 54 contacting an offcenter surface within the target block 50. Continued extension of theprotrusion 54 into the target block 50 will cause the end of theprotrusion 54 to slide along the inner surface of the target block 50.

If the vessel 12 is in a locked position (via the motor, brake, or othermeans) and the protrusion 54 and slide plate 60 are in an unlockedposition, the result of continued extension of the protrusion 54 wouldcause the protrusion 54 to become centered within the fixed target block50, and the slide plate 60 would slide along the base plate 62 until theprotrusion 54 bottoms out in the target block 50. Accordingly, thisapproach could be used as a method of positioning the slide plate 60relative to the base plate 62, where the slide plate 60 could thereafterbe fixed to the base plate 62 as described above and with the protrusion54 fully extended and engaged with the target block 50.

However, if the vessel 12 is in an unlocked position and the slide plate60 and protrusion 54 are in a rotationally locked position relative tothe base plate 62, continued extension of the protrusion 54 will causethe target block 50 and the vessel 12 to rotate until the protrusion 54bottoms out in the target block 50 and is fully engaged with the targetblock 50. Thus, by fixing the slide plate 60 and locking the path oftravel for the protrusion 54, the target block 50 and vessel areadjusted to conform to the position set by the position of the slideplate 60.

Further, in one approach, both the vessel 12 and the slide plate 60 maybe in an unlocked position at the same time, thereby making the targetblock 50 and the protrusion 54 also in an unlocked rotational position.In this configuration, extension of the protrusion 54 into engagementwith the target block 50 can result in both the vessel 12 and the slideplate 60 rotating about the axis of rotation of the vessel 12. Thedegree of rotation for each of the components can depend on the inertiaof each of the components, in addition to any frictional loading thatmay resist rotation. Typically, the component with the least amount ofcombined inertial and frictional resistance to movement will stayrelatively fixed while the component with the lower resistance tomovement will be the component that moves. In any case, once theprotrusion has fully extended and bottomed out in the target block, thecenters of the target block 50 and protrusion 54 will be aligned withthe axis of rotation of the vessel 12.

In the case where both the vessel 12 and the slide plate 60 are in anunlocked position, the vessel 12 and slide plate 60 may be rotatedtogether when the protrusion 54 and the target block 50 are engaged witheach other. In this approach, the slide plate 60 may be moved, therebyrotating the vessel 12 along with it, or the vessel 12 may be rotated,thereby moving the slide plate 60 along with it. Similarly, both thevessel 12 and the slide plate 60 may be actuated for movement together.

Thus, in view of the above, the slide plate 60, protrusion 54, targetblock 50, and vessel 12 are related and dependent with each other fortheir respective position. Accordingly, fixing some of the componentswill result in the unfixed components to conform to the position of thecomponents that are fixed in place. In that regard, the ability toprecisely position the slide plate 60 (and the protrusion 54 coupled tothe slide plate) will result in the ability to precisely position thevessel 12 with a greater degree of precision than the vessel 12 canachieve through its typical rotational and positioning means.

In view of the above, the vessel 12 need only be positioned roughlyrelative to the position of the slide plate 60 and the protrusion 54.The vessel 12 can ultimately be precisely located rotationally by beinginitially rotationally positioned such that the bottom opening of thetarget block 50 intersects with the center of the path of travel of theprotrusion 54, such that extension of the protrusion 54 will result inthe protrusion entering the target block 50.

Furthermore, by locking the slide plate 60 to the base plate 62, thevessel 12 can be repeatedly positioned in the same precise location aslong as the slide plate 60 remains in the same fixed position.

Thus, the above described system allows for precision in locating thevessel 12 in an efficient and repeatable process to a degree notachievable by the standard rotational positioning of the vessel 12.

Having described the components and structure of the system, and theircapabilities, a method for using the system and the correspondingcomponents will now be described in further detail.

The system may be operated in a traditional manner, where the vessel 12is rotated about its axis of rotation to process the contents within thevessel 12. The vessel 12 may be slowed during its rotation to a fractionof its full speed by a known speed controlling device. As the vessel 12is rotating at a reduced speed, the positioning disc 30 will similarlyrotate at a reduced speed relative to the sensors 32.

When a specific point on the positioning disc 30 is detected to havepassed the sensors 32, the vessel 12 may be slowed to an even slowerrotational rate. Once a second point on the positioning disc passes thesensors 32, the driving mechanism of the vessel 12 may be disengaged,and the motor brake 28 of the system may be applied. As a result of theslowed rotation and selected braking, the target block 50 may bepositioned generally above the protrusion 54, as shown in FIG. 2.

With the vessel 12 in a locked position due to the brake 28 or otherlocking mechanism, the protrusion 54 is extended by actuating theactuator 58. The protrusion 54 will translate linearly away from theslide plate 60 and into engagement with the target block 50.

As the end of the protrusion 54 engages the target block 50, or clearsthe opening of the target block 50, the brake 28 or locking mechanism isdisengaged, allowing the vessel 12 to rotate freely about its axis.

The protrusion 54 may then continue to be extended into the target block50, and the target block 50 and vessel 12 will rotate in accordance withthe continued extension of the protrusion 54 into the target block 50.

Once the protrusion 54 is fully seated in the target block 50, theposition of the vessel 12 will be fixed and held rotationally in place.This position will be maintained throughout the time that the protrusion54 remains extended into the fully seated position.

With the vessel 12 held in place by the extended protrusion 54, thevessel 12 is in a precise location corresponding to the locked positionof the slide plate 60, and the opening of the vessel 12 through whichthe contents of the vessel 12 may be discharged can mate with acorresponding evacuation mechanism to retrieve the contents of thevessel 12.

The precise position of the vessel 12 allows for the evacuationmechanism to be automated to extend and mate to the same positionrepeatedly. This automatic and precise mating to a precisely positionedrotational vessel 12 allows for increased sealing abilities andincreased assurance that the seal between the vessel 12 and theevacuation mechanism will be precisely seated, thereby reducing exposureof the contents to the environment and the resulting loss of product ofpossibility of contamination.

When it is desirable to rotate the vessel 12 again, the protrusion 54may be retracted back toward the slide plate 60 and out of engagementwith the target block 50. Prior to retracting the protrusion 54, themotor brake 28 may be applied again, to prevent the vessel 12 fromrotation after being disengaged.

Once the protrusion 54 is fully retracted or otherwise clear of thetarget block 50 and the vessel 12, the motor brake 28 may be released,and the drive may be started again. The above procedure can be repeatedmultiple times, with the vessel 12 ultimately being precisely positionedaccording to the protrusion 54 in the same position repeatedly.

The above method corresponds to a configuration where the desiredposition of the vessel 12 has already been determined and set by theslide plate 60. However, the slide plate 60 is positioned initially toset the ultimate desired position. The slide plate 60 may also need tobe readjusted for later procedures.

To set the position of the slide plate 60, the vessel 12 may be rotatedto an approximate position that corresponds to the desired location fordischarge. The vessel 12 may be rotated via the motor, and thepositioning disc 30 may be used along with the sensors 32 to determinethe general rotational position of the vessel 12. Similar to the above,the vessel 12 and its rotation may be slowed by the motor during itsrotation to bring it to a stop via the motor brake 28.

With the vessel 12 in the desired approximate position, the motor brake28 is released, allowing for the vessel 12 to be rotated and adjustedslightly.

The bolts 36 (or other structure) that hold the slide plate 60 to thebase plate 62 are loosened, such that the slide plate 60 may be adjustedrelative to the base plate 62. The adjustment screw 66 or otheradjustment mechanism may be actuated manually.

With the slide plate 60 being adjustable relative to the base plate 62,the protrusion 54 may be actuated toward the target block 50. Theprotrusion 54 will engage the target block 50 as described above, withthe protrusion 54 contacting the interior of the target block 50.

Extension of the protrusion 54 may cause the target block 50 to adjustrotationally relative to the protrusion 54. However, because the slideplate 60 is moveable relative to the base plate 62, it is also possiblethat the slide plate 60 and the protrusion 54 may rotationally adjustrelative to the target block 50. It is also possible that both thetarget block 50 and the protrusion 54 will rotationally adjust duringthe engagement, with the vessel 12 and the slide plate 60 therebyadjusting as well.

Once the protrusion x54 is fully extended and engaged with the targetblock 50, the vessel 12 and slide plate 60 become locked in positionrelative to each other due to the engagement between the protrusion 54and the target block 50. However, because the slide plate 60 is free tomove relative to the base plate 62, the vessel 12 and slide plate 60remain adjustable relative to the base plate 62.

Thus, with the vessel 12 and the slide plate 60 locked relative to eachother, the vessel 12 and slide plate 60 are rotated together relative tothe base plate 62. The vessel 12 may then be precisely rotated relativeto the base plate 62, with the vessel 12 being rotationally positionedto the precise location desired for discharge of the contents of thevessel 12. The vessel 12 is rotatable to any specific rotationalposition to ensure a precise location.

Rotation of the vessel 12 may be accomplished by directly rotating thevessel 12, causing the slide plate 60 to rotate with it. In anotherapproach, the slide plate 60 may be adjusted rotationally by the screw66 or rod 70, thereby rotating the vessel 12 along with it. In a furtherapproach, the vessel 12 may be directly rotated along with directadjustment of the slide plate 60 to distribute the force required toachieve the rotation of the coupled vessel 12 and slide plate 60.

With the vessel 12 in the desired final rotational position, the bolts63 between the slide plate 60 and the base plate 62 are then tightened.The slide plate 60 thereby becomes fixed in position relative to thebase plate 62. Likewise, due to the engagement between the protrusion 54and the target block 50, the vessel 12 is also locked to the base plate62 at this stage.

The position of the vessel 12 may be checked again and confirmed toensure that the position of the vessel 12 is in the desired location. Ifthe vessel 12 needs to be readjusted, the bolts 63 may be loosened againand the slide plate 60 and vessel 12 can be jointly adjusted once again,and the bolts 63 can once again be tightened. This readjustment mayoccur multiple times if desired until the vessel 12 is in the precisedesired location after locking the slide plate 60 to the base plate 62via the bolts.

With the slide plate 60 locked to the base plate 62 in a positioncorresponding to the precise desired location of the vessel 12, theprotrusion 54 may be retracted away from the target block 50. The motorbrake 28 may be applied, if desired, to hold the vessel 12 in a positionapproximating the precise desired position, thereby keeping the vessel12 in place to allow for further processing or loading.

The vessel 12 may then be rotated to perform the desired operation, andcan later be stopped to allow for discharge of the contents as describedabove. Because the slide plate 60 is locked to the base plate 62,extension of the protrusion 54 into the target block 50 at a later stagewill return the vessel 12 to the precise location previously set.

The adjustment of the slide plate 60 relative to the base plate 62 willtypically not have to be performed again. Repeated engagement anddisengagement of the protrusion 54 and the target block 50 will resultin a repeatable precise position of the vessel 12. However, in the eventthat the precise desired final position of the vessel 12 needs to bechanged or adjusted, such as due to a different discharge apparatus thatis configured to mate with the vessel 12, the slide plate 60 and baseplate 62 may be adjusted relative to each other again by loosening thebolts 36 and repeating the above described procedure for setting thedesired final location.

Thus, the above described system and method provides for a highlyrepeatable and precise location for a rotatable vessel 12 that is notpossible using traditional positioning means such as a motor and motorbrake. This highly repeatable precise positioning allows for automatingthe positioning after the desired location is set, thereby not requiringmanual adjustment to ensure a precise location for discharge after eachprocess.

As a person skilled in the art will readily appreciate, the abovedescription is meant as an illustration of the implementation of theprinciples of this invention. This description is not intended to limitthe scope or application of this invention in that the invention issusceptible to modification, variation, and change, without departingfrom the spirit of this invention as defined in the following claims.

The invention claimed is:
 1. A method for positioning a rotatablevessel, the method comprising: providing a vessel having an axis ofrotation and a target block fixedly attached thereto; rotating thevessel to a first position, wherein the vessel is free to rotate awayfrom the first position; in response to rotating the vessel to the firstposition, extending a protrusion into a mating engagement with thetarget block and locking the protrusion and target block together,wherein the protrusion is rotationally fixed to a slide plate andmoveable linearly away from the slide plate, wherein the slide plate isrotationally adjustable and lockable between non-predefined rotationalpositions relative to a fixed base plate; in response to extending theprotrusion into the mating engagement with the target block, rotatingthe vessel from the first position to a second position, simultaneouslywith the slide plate and relative to the fixed base plate; wherein thevessel is locked in the second position when the protrusion and thetarget block are locked together and the slide plate is locked to thebase plate.
 2. The method of claim 1, wherein the method furthercomprises, prior to rotating the vessel to the first position, unlockingthe slide plate from the base plate and rotating the vessel to apreliminary position, and extending the protrusion into engagement withthe target block, wherein the slide plate and vessel are free to rotaterelative to the base plate.
 3. The method of claim 1, wherein the methodfurther comprises, prior to rotating the vessel to the first positionand after rotating the slide plate and vessel together to the secondposition, locking the slide plate to the base plate when the vessel isin the second position.
 4. The method of claim 1, wherein the step ofrotating the vessel to the first position comprises rotating the vesselat a first speed, decreasing the rotational speed to a second speed,detecting a rotational position of the vessel using sensors and inresponse thereto further decreasing the rotational speed to a thirdspeed and applying a brake to the vessel when it reaches the firstposition, and releasing the brake prior to extending the protrusion.